Can a PC use the Reposition action to reposition an ally? How would this work?
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Yes, you can use the action on an ally. They are a valid target.
You could also Grapple, Shove, or Trip your allies too.
It would technically work the same as it does on an enemy. You would make an Athletics check against your ally's Fortitude DC and move them according to the roll results. And you would progress MAP by one stage because of the Attack trait on the action.
As a concession to the idea that you are taking an action designed to be used on an enemy and instead using it on an ally, there is a common houserule to allow increasing the degree of success by one step.